**Call for Participation **
** Workshop - Generating Optimal Paths in Humanoid and Industrial
Robotics**
**IEEE Humanoids 2012 Nov 29, 2012 in Osaka**
Scope:
Humanoid and industrial robots are required to perform motions in more
and more complex and constantly changing environments. The generation of
the best possible robot motion that does not violate any constraints
imposed by the environment is a challenging and important problem in
both humanoid and industrial robotics. There are two different
algorithmic approaches that both address this problem from different
perspectives, namely path planning and numerical optimal control. Path
planning is mainly interested in the determination of a feasible path in
very complex environments based on geometric and kinematic models.
Numerical optimal control techniques are capable to generate optimal
trajectories for robot manipulators or humanoid robots taking into
account the dynamics; however the treatment of a large number of
environmental constraints giving rise to many local minima makes the
problems very hard, if not impossible, to solve. The goal of this
workshop is to gather researchers working in path planning with
researchers working in optimal control, in order to give an overview of
the state of the art and to discuss the issues related to combining
algorithms from both fields. The workshop is organized within the
European FP7 project ECHORD-GOP (Generating Optimal Paths).
Topics:
* Efficient numerical algorithms for optimal control and path planning
* Algorithmic approaches and software frameworks to combine them
* Handling different types of constraints: robot dynamics, complex
obstacle dynamic as well as time varying constraints imposed by the
environment
* Applications of optimal control and path planning in humanoid
robotics: walking, grasping, manipulation
* Other interesting robotic applications
* Modeling robots and their environment in the context of optimal
control and path planning
* Online optimization
Confirmed speakers:
* James Kuffner, CMU & Google, USA
* Abderrahmane Kheddar, CNRS / AIST Tsukuba, Japan
* Kensuke Harada, AIST Tsukuba, Japan
* Serena Ivaldi. ISIR Paris, France
* Mike Stilman, Georgia Tech, USA
* Chris Atkeson, CMU, USA
* Francesco Nori, IIT, Genova, Italy
* Nicolas Perrin, IIT, Genova, Italy
* Jean-Paul Laumond, LAAS-CNRS, France
* Katja Mombaur, University of Heidelberg, Germany
Organizers:
Katja Mombaur, Martin Felis, IWR, Universität Heidelberg, Germany
Forient Lamiraux, Antonio El Khoury, LAAS-CNRS, Toulouse
More information at
http://www.humanoidrobots.org/humanoids2012/ > Workshops/Tutorials
> WS 2